2.1.1 Exoskeleton robot
An exoskeleton robot is a wearable motion assist device consisted with actuators and sensors whose joints correspond to those of the human body .It is worn by the human
and the physical contact between the user and the exoskeleton allows direct transfer of mechanical power and information signals. In utilizing the exoskeleton robot, the user
provides the control signal for the exoskeleton, while the exoskeleton actuator provides most of the power necessary for performing the power assist [1]. Figure 2.1 show a 7 DOF
exoskeleton robot developed at University of Washington, USA. [2]
Figure 2.1: Human Upper Limb Motion Assist Exoskeleton Robots. [2]
2.1.2 Elbow complex
The elbow complex allows 2DOF, flexionextension and supinationpronation .In the elbow flexion motion, the angle between the forearm and the upper arm is decreased
where as in extension motion the angle is increased [see Fig. 2.2b]. Average movable ranges of the human elbow are 5 degrees in extension, 145 degrees in flexion. Forearm
supination and forearm pronation each has average movable range of 90 degrees [3].
Figure 2.2: Elbow complex and elbow motions. a Elbow anatomy. b Elbow flexionextension motion. c Forearm supinationpronation motion. [3]
2.1.3 Classification of Upper-Limb Exoskeleton Robots
Upper-limb exoskeleton robots can be classified in several ways considering features of their mechanical designs andor control methods. It‘s classified according to [4]:
a Applied segment of the upper-limb
Classified as hand exoskeleton robot, forearm exoskeleton robot, upper-arm
exoskeleton robot or combined segment exoskeleton robot.
b DOF
Classified according to the number of active or passive joints or in other
words DOF as 1DOF, 2DOF, 3DOF, etc.
c power transmission methods
Gear drive, cable drive, linkage mechanism or other method.
d Applications of the robot
Classified according to the intended purpose namely rehabilitation robots,
assistive robots, human amplifiers, haptic interfaces or other uses.
e Control methods
Impedance control, force control, fuzzy-neuron control or other control
methods.
Figure 2.3: Classification of exoskeleton robots. a Methods of classification of upper-limb exoskeleton robots. [4]
Figure 2.4: Classification of exoskeleton robots. b A classification of upper-limb exoskeleton robots based on the actuators used in mechanical designs. [4]
2.1.4 Actuation System
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